The invention relates to a proportional volumetric doser (10) comprising a motor (20) to which a pump (30) is connected, which pump (30) comprises a tubular sleeve (80) inside which a cylinder (85) is housed in which a small doser piston (62) slides, mechanically connected to an output shaft of the motor (20), wherein an inner surface of the cylinder (85) and the small piston (62) partially define a dosing chamber (48) of an auxiliary fluid to be mixed in the motor (20) in a prefixed amount with the main fluid, where said cylinder (85) has a threaded outer portion that meshes with a threaded portion of a ring nut (70) so that a rotation of the ring nut (70) causes an axial translation of the cylinder (85) and the variation of the volume of the dosing chamber (48), said proportional volumetric doser (30) being characterized in that the sleeve (80) comprises a locking system (100) configured to mechanically lock the cylinder (85) with respect to the tubular sleeve (80) by creating a shape constraint.

The invention relates to a proportional volumetric doser (10) comprising a motor (20) to which a pump (30) is connected, which pump (30) comprises a tubular sleeve (80) inside which a cylinder (85) is housed in which a small doser piston (62) slides, mechanically connected to an output shaft of the motor (20), wherein an inner surface of the cylinder (85) and the small piston (62) partially define a dosing chamber (48) of an auxiliary fluid to be mixed in the motor (20) in a prefixed amount with the main fluid, where said cylinder (85) has a threaded outer portion that meshes with a threaded portion of a ring nut (70) so that a rotation of the ring nut (70) causes an axial translation of the cylinder (85) and the variation of the volume of the dosing chamber (48), said proportional volumetric doser (30) being characterized in that the sleeve (80) comprises a locking system (100) configured to mechanically lock the cylinder (85) with respect to the tubular sleeve (80) by creating a shape constraint.

In an embodiment, a method during execution of a motion plan by a robotic arm includes determining a voice command from speech of a user said during the execution of the motion plan, determining a modification of the motion plan based on the voice command from the speech of the user, and executing the modification of the motion plan by the robotic arm.

The invention relates to a hydraulic actuator (1) that can be controlled by a main valve (2) and an auxiliary valve (3). Upstream of the main valve device (2) is a main regulator (7), having a P block (9) and an I block (10). Upstream of the auxiliary valve (3) is an auxiliary regulator (8), having a base block (11) and an I block (12). In a normal mode of operation, the auxiliary valve (3) is deactivated. The main regulator is provided with a main setpoint variable (p*) and a corresponding main actual quantity (p) of the hydraulic actuator (1). The main regulator (7) determines a main actuating variable (s) and predefines the main actuating variable (s) in the main valve device (2). In a special mode of operation, the base block (11) of the auxiliary regulator (8) is provided with an auxiliary setpoint variable (a*) and a corresponding auxiliary actual quantity (p) of the hydraulic actuator (1). The base block (11) of the auxiliary regulator (8) determines an auxiliary actuating variable (s′) and predefines the auxiliary actuating variable (s′) in the auxiliary valve device (3). The I block (12) of the auxiliary regulator (8) is provided with the main setpoint variable (p*) and the main actual quantity (p). The I block (12) of the auxiliary regulator (8) determines an integral component (si′) therefrom. The integral component (si′) is applied to the auxiliary actuating variable (s′). In the special mode of operation, the P block (9) is provided with the main setpoint variable (p*) and the main actual quantity (p). In the special mode of operation, the P-block (9) determines the main actuating variable (s) and predefines the main actuating variable (s) in the main valve device (2).

A substrate processing apparatus includes: a substrate holder configured to hold a substrate; a processing liquid supply part configured to supply a processing liquid to the substrate held by the substrate holder; a chemical liquid supply part configured to supply a chemical liquid as a component of the processing liquid to the processing liquid supply part; a pure water supply part configured to supply pure water as a component of the processing liquid to the processing liquid supply part; a low-dielectric constant solvent supply part configured to supply a low-dielectric constant solvent as a component of the processing liquid to the processing liquid supply part; and a controller configured to control a ratio of the chemical liquid, the pure water, and the low-dielectric constant solvent contained in the processing liquid by controlling the chemical liquid supply part, the pure water supply part, the low-dielectric constant solvent supply part.

A substrate processing apparatus includes: a substrate holder configured to hold a substrate; a processing liquid supply part configured to supply a processing liquid to the substrate held by the substrate holder; a chemical liquid supply part configured to supply a chemical liquid as a component of the processing liquid to the processing liquid supply part; a pure water supply part configured to supply pure water as a component of the processing liquid to the processing liquid supply part; a low-dielectric constant solvent supply part configured to supply a low-dielectric constant solvent as a component of the processing liquid to the processing liquid supply part; and a controller configured to control a ratio of the chemical liquid, the pure water, and the low-dielectric constant solvent contained in the processing liquid by controlling the chemical liquid supply part, the pure water supply part, the low-dielectric constant solvent supply part.

A fire suppression system includes a water supply, a foam concentrate supply, and a venturi-principle foam proportioner fluidly coupled to each of the water supply and the foam concentrate supply. The venturi-principle foam proportioner controls a ratio of water and foam concentrate within a low pressure chamber to form a water and foam solution flowing out of the venturi-principle foam proportioner. The system also includes a variable foam concentrate orifice fluidly coupling the foam concentrate line to the low pressure chamber. The variable foam concentrate orifice includes an actuator configured to adjust an orifice area of the variable foam concentrate orifice based on a temperature of the foam concentrate.

A fire suppression system includes a water supply, a foam concentrate supply, and a venturi-principle foam proportioner fluidly coupled to each of the water supply and the foam concentrate supply. The venturi-principle foam proportioner controls a ratio of water and foam concentrate within a low pressure chamber to form a water and foam solution flowing out of the venturi-principle foam proportioner. The system also includes a variable foam concentrate orifice fluidly coupling the foam concentrate line to the low pressure chamber. The variable foam concentrate orifice includes an actuator configured to adjust an orifice area of the variable foam concentrate orifice based on a temperature of the foam concentrate.

A dilution control device and method of operating the same. The dilution control device can include a structure for dispensing concentrate and diluent fluid in a desired dilution ratio utilizing volumetric dosing. In some embodiments, diluent fluid drives a wheel or compresses a pliable concentrate bag in order to dispense concentrate in the desired ratio with the diluent fluid. In some embodiments, one or more floats can be used to drive a pump or actuate a valve to dispense concentrate at a particular rate proportional with the flow rate of the diluent fluid. In some embodiments, a rocker is responsive to the flow of diluent fluid to pump concentrate. In some embodiments, the dilution control device can be operable to automatically modulate the dispense rate of concentrate when the diluent fluid flow rate is varied in order to maintain a predetermined dilution ratio.

A method for detecting blowout precursors in at least one gas turbine combustor comprising: receiving combustion dynamics acoustic data measured by an acoustic measuring device associated with the combustor in real time; performing wavelet analysis on the acoustic data using simplified Mexican Hat wavelet transform analysis; and determining the existence of a blowout precursor based at least in part on the wavelet analysis. Provided also is a system and a non-transitory computer readable medium configured to perform the method.